#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

// Initialize the LCD with the I2C address, 16 columns, and 2 rows
LiquidCrystal_I2C lcd(0x27, 16, 2);  // Update 0x27 with your LCD's I2C address

Adafruit_MPU6050 mpu;

int flexSensorPin = 25;  // Analog pin to read the flex sensor output
int emgSensorPin = 33;   // Pin to read the EMG sensor output
int flexValue;           // Variable to store the flex sensor value
int angle;               // Variable to store the angle from the flex sensor
int emgValue;            // Variable to store the EMG sensor value
int displayState = 0;    // Variable to cycle through different displays
unsigned long lastDisplayChange = 0; // To track time for cycling
unsigned long displayInterval = 3000; // Change display every 3 seconds

void setup(void) {
  Serial.begin(115200);

  // Initialize the LCD
  lcd.init();
  lcd.backlight();
  delay(100);

  // Display initial message
  lcd.setCursor(0, 0);
  lcd.print("Initializing...");

  // Initialize MPU6050 sensor
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    lcd.setCursor(0, 1);
    lcd.print("MPU6050 Error");
    while (1) {
      delay(10);
    }
  }

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

  delay(1000);  // Pause to see the initialization message
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("ESP32 MPU6050");
  delay(1000);
}

void loop() {
  // Get current time
  unsigned long currentMillis = millis();

  // Check if it's time to change the display
  if (currentMillis - lastDisplayChange > displayInterval) {
    displayState = (displayState + 1) % 4; // Cycle through 0, 1, 2, and 3
    lastDisplayChange = currentMillis;
  }

  // Get new sensor events with the readings
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  // Read the analog value from the flex sensor
  flexValue = analogRead(flexSensorPin);
  angle = map(flexValue, 0, 2073, 0, 180);  // Map flex sensor value to angle (0-180 degrees)

  // Read the analog value from the EMG sensor
  emgValue = analogRead(emgSensorPin);  // Assuming the EMG sensor outputs analog values

  // Clear LCD and display based on the current display state
  lcd.clear();
  if (displayState == 0) {
    // Display accelerometer data
    lcd.setCursor(0, 0);
    lcd.print("Accel X,Y,Z:");
    lcd.setCursor(0, 1);
    lcd.print(a.acceleration.x, 1);
    lcd.print(",");
    lcd.print(a.acceleration.y, 1);
    lcd.print(",");
    lcd.print(a.acceleration.z, 1);
  } else if (displayState == 1) {
    // Display gyroscope data
    lcd.setCursor(0, 0);
    lcd.print("Gyro X,Y,Z:");
    lcd.setCursor(0, 1);
    lcd.print(g.gyro.x, 1);
    lcd.print(",");
    lcd.print(g.gyro.y, 1);
    lcd.print(",");
    lcd.print(g.gyro.z, 1);
  } else if (displayState == 2) {
    // Display flex sensor data
    lcd.setCursor(0, 0);
    lcd.print("Flex Angle:");
    lcd.setCursor(0, 1);
    lcd.print(angle);
  } else if (displayState == 3) {
    // Display EMG sensor data
    lcd.setCursor(0, 0);
    lcd.print("EMG Value:");
    lcd.setCursor(0, 1);
    lcd.print(emgValue);
  }

  // Print the flex and EMG values to the serial monitor
  Serial.print("Raw Flex Value: ");
  Serial.println(flexValue);
  Serial.print("Angle: ");
  Serial.println(angle);

  Serial.print("Raw EMG Value: ");
  Serial.println(emgValue);

  delay(500);  // Slow down the updates for readability
}